{"ID":2830442,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.11080","arxiv_id":"2512.11080","title":"Taxonomy and Modular Tool System for Versatile and Effective Non-Prehensile Manipulations","abstract":"General-purpose robotic end-effectors of limited complexity, like the parallel-jaw gripper, are appealing for their balance of simplicity and effectiveness in a wide range of manipulation tasks. However, while many such manipulators offer versatility in grasp-like interactions, they are not optimized for non-prehensile actions like pressing, rubbing, or scraping -- manipulations needed for many common tasks. To perform such tasks, humans use a range of different body parts or tools with different rigidity, friction, etc., according to the properties most effective for a given task. Here, we discuss a taxonomy for the key properties of a non-actuated end-effector, laying the groundwork for a systematic understanding of the affordances of non-prehensile manipulators. We then present a modular tool system, based on the taxonomy, that can be used by a standard two-fingered gripper to extend its versatility and effectiveness in performing such actions. We demonstrate the application of the tool system in aerospace and household scenarios that require a range of non-prehensile and prehensile manipulations.","short_abstract":"General-purpose robotic end-effectors of limited complexity, like the parallel-jaw gripper, are appealing for their balance of simplicity and effectiveness in a wide range of manipulation tasks. However, while many such manipulators offer versatility in grasp-like interactions, they are not optimized for non-prehensile...","url_abs":"https://arxiv.org/abs/2512.11080","url_pdf":"https://arxiv.org/pdf/2512.11080v1","authors":"[\"Cedric-Pascal Sommer\",\"Robert J. Wood\",\"Justin Werfel\"]","published":"2025-12-11T19:52:40Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}